Class ABPath Extends Path

bool calculatePartial

Calculate partial path if the target node cannot be reached.

If the target node cannot be reached, the node which was closest (given by heuristic) will be chosen as target node and a partial path will be returned. This only works if a heuristic is used (which is the default). If a partial path is found, CompleteState is set to Partial.

The endNode and endPoint will be modified and be set to the node which ends up being closest to the target.

uint cost

Total cost of this path as used by the pathfinding algorithm.

The cost is influenced by both the length of the path, as well as any tags or penalties on the nodes. By default, the cost to move 1 world unit is Int3.Precision.

If the path failed, the cost will be set to zero.

GraphNode endNode

End node of the path.

Vector3 endPoint

End point of the path.

This is the closest point on the endNode to originalEndPoint

bool endPointKnownBeforeCalculation

True if this path type has a well defined end point, even before calculation starts.

This is for example true for the ABPath type, but false for the RandomPath type.

PathEndingCondition endingCondition

Optional ending condition for the path.

The ending condition determines when the path has been completed. Can be used to for example mark a path as complete when it is within a specific distance from the target.

If ending conditions are used that are not centered around the endpoint of the path, then you should also set the heuristic to None to ensure the path is still optimal. The performance impact of setting the heuristic to None is quite large, so you might want to try to run it with the default heuristic to see if the path is good enough for your use case anyway.

If null, no custom ending condition will be used. This means that the path will end when the target node has been reached.

Vector3 originalEndPoint

End Point exactly as in the path request.

Vector3 originalStartPoint

Start Point exactly as in the path request.

GraphNode startNode

Start node of the path.

Vector3 startPoint

Start point of the path.

This is the closest point on the startNode to originalStartPoint

PathCompleteState CompleteState

Current state of the path.

Unity.Profiling.ProfilerMarker MarkerOpenCandidateConnectionsToEnd = new Unity.Profiling.ProfilerMarker("OpenCandidateConnectionsToEnd")

Unity.Profiling.ProfilerMarker MarkerTrace = new Unity.Profiling.ProfilerMarker("Trace")

PathState PipelineState

Returns the state of the path in the pathfinding pipeline.

OnPathDelegate callback

Callback to call when the path is complete.

This is usually sent to the Seeker component which post processes the path and then calls a callback to the script which requested the path

float duration

How long it took to calculate this path in milliseconds.

int enabledTags = -1

Which graph tags are traversable.

This is a bitmask so -1 = all bits set = all tags traversable. For example, to set bit 5 to true, you would do myPath.enabledTags |= 1 << 5;
To set it to false, you would do myPath.enabledTags &= ~(1 << 5);


The Seeker has a popup field where you can set which tags to use.

bool error

If the path failed, this is true.

This typically happens if there's no valid node close enough to the start point of the path, or if there's no node close enough to the target point that is reachable from the start point. The errorLog will have more information about what happened.

string errorLog

Additional info on why a path failed.

Heuristic heuristic

Determines which heuristic to use.

float heuristicScale = 1F

Scale of the heuristic values.

OnPathDelegate immediateCallback

Immediate callback to call when the path is complete.

NNConstraint nnConstraint = PathNNConstraint.Walkable

Constraint for how to search for nodes.

List<GraphNode> path

Holds the path as a GraphNode list.

These are all nodes that the path traversed, as calculated by the pathfinding algorithm. This may not be the same nodes as the post processed path traverses.

ushort pathID

ID of this path.

Used to distinguish between different paths

int searchedNodes

Number of nodes this path has searched.

int[]? tagPenalties

Penalties for each tag.

Tag 0 which is the default tag, will get a penalty of tagPenalties[0]. These should only be non-negative values since the A* algorithm cannot handle negative penalties.

When assigning an array to this property it must have a length of 32.

ITraversalProvider traversalProvider

Provides additional traversal information to a path request.

List<Vector3> vectorPath

Holds the (possibly post-processed) path as a Vector3 list.

This list may be modified by path modifiers to be smoother or simpler compared to the raw path generated by the pathfinding algorithm.

NNConstraint NNConstraintNone = NNConstraint.None

Cached NNConstraint.None to reduce allocations.

int[] ZeroTagPenalties = new int[32]

List of zeroes to use as default tag penalties.

PathCompleteState completeState

Backing field for CompleteState.

GraphNode hTargetNode

Target to use for H score calculation.

bool hasBeenReset

True if the Reset function has been called.

Used to alert users when they are doing something wrong.

bool hasEndPoint

Determines if a search for an end node should be done.

Set by different path types.

HeuristicObjective heuristicObjective

Target to use for H score calculations.

refHeuristicObjective heuristicObjectiveInternal

int[] internalTagPenalties

The tag penalties that are actually used.

uint partialBestTargetGScore = uint.MaxValue

uint partialBestTargetHScore = uint.MaxValue

uint partialBestTargetPathNodeIndex = GraphNode.InvalidNodeIndex

Current best target for the partial path.

This is the node with the lowest H score.

PathHandler pathHandler

Data for the thread calculating this path.